WO2022205091A1 - Procédé de commande de cardan, cardan et plate-forme mobile - Google Patents

Procédé de commande de cardan, cardan et plate-forme mobile Download PDF

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Publication number
WO2022205091A1
WO2022205091A1 PCT/CN2021/084461 CN2021084461W WO2022205091A1 WO 2022205091 A1 WO2022205091 A1 WO 2022205091A1 CN 2021084461 W CN2021084461 W CN 2021084461W WO 2022205091 A1 WO2022205091 A1 WO 2022205091A1
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WO
WIPO (PCT)
Prior art keywords
joint angle
rotating shaft
target
controlling
pan
Prior art date
Application number
PCT/CN2021/084461
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English (en)
Chinese (zh)
Inventor
林荣华
潘立忠
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202180094299.XA priority Critical patent/CN116897325A/zh
Priority to PCT/CN2021/084461 priority patent/WO2022205091A1/fr
Publication of WO2022205091A1 publication Critical patent/WO2022205091A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present disclosure relates to the technical field of PTZ control, and in particular, to a PTZ control method, a PTZ and a mobile platform.
  • embodiments of the present disclosure provide a pan-tilt control method, a pan-tilt and a mobile platform, which can implement at least one of a one-key storage function, one-key expansion function, or one-key expansion function, so as to improve the ease of use of operating equipment. There are problems of external interference and inconvenient operation.
  • an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a first trigger event instructing the pan-tilt to enter a storage mode, controlling at least one of the The rotating shaft structure is rotated to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until a second instruction indicating that the pan/tilt exits the storage mode is detected. trigger event.
  • the gimbal can control the rotating shaft structure to rotate to a target storage position in response to a trigger event indicating that the gimbal enters the storage mode, and the target position can make the gimbal and the gimbal enter the storage mode.
  • the operation equipment carried by the gimbal enters a relatively safe posture to improve property safety.
  • it can also effectively improve the accuracy of posture adjustment and improve the user experience.
  • an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a second trigger event instructing the pan-tilt to enter a deployment mode, controlling at least one of the The rotating shaft structure is rotated to the target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude; wherein, the pan/tilt head is in a power-on state before responding to the second trigger event.
  • the gimbal in response to a trigger event indicating that the gimbal enters the deployment mode, controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can Quickly switch to the desired deployment posture, so as to quickly use the working equipment carried by the pan/tilt head to perform operations.
  • the gimbal compared to manually adjusting the gimbal to the unfolded posture, on the basis of improving the convenience of operation, it can also effectively improve the accuracy of posture adjustment and improve the user experience.
  • an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a first trigger event instructing the pan-tilt to enter a storage mode, controlling at least one of the The rotating shaft structure is rotated to the target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position; in response to a second trigger event indicating that the pan/tilt head enters the deployment mode , controlling at least one of the rotating shaft structures to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • the PTZ can respond to a trigger event that instructs the PTZ to enter the storage mode. , control the rotating shaft structure to rotate to the target storage position, so that the pan-tilt and/or the operation equipment carried by the pan-tilt is in a relatively safe working posture.
  • the at least one rotating shaft structure is controlled to remain in the target storage position, which helps to improve the safety in the process of being carried by the user to the next shooting location.
  • the gimbal controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can quickly switch to the desired deployment attitude, so that It can quickly use the operation equipment carried by the PTZ to perform operations, which can effectively improve the user experience.
  • embodiments of the present disclosure provide a pan/tilt head, including: at least one rotating shaft structure; one or more processors; and a computer-readable storage medium for storing one or more computer programs, wherein the computer programs are When executed by the processor, a method as described above is implemented.
  • an embodiment of the present disclosure provides a mobile platform, the mobile platform includes: a body and the above-mentioned pan/tilt head, where the pan/tilt head is arranged on the body.
  • embodiments of the present disclosure provide a computer-readable storage medium storing executable instructions, which, when executed by one or more processors, can cause one or more processors to execute the above Methods.
  • 1 is an application scenario of a method for controlling a PTZ, a PTZ, and a mobile platform provided by an embodiment of the present application;
  • FIG. 2 provides a method for controlling a PTZ and an application scenario of the PTZ provided by another embodiment of the present application
  • FIG. 3 is a schematic structural diagram of a PTZ provided by an embodiment of the present application.
  • FIG. 4 is a flowchart of a method for controlling a PTZ provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of carrying operation equipment on a pan/tilt according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of an interactive interface displayed on a display screen according to an embodiment of the present application.
  • FIG. 7 is a logic diagram of closed-loop control of the pan/tilt head based on joint angles provided by an embodiment of the present application.
  • FIG. 8 is a logic diagram of performing closed-loop control of a gimbal based on attitude according to an embodiment of the present application
  • FIG. 9 is a schematic diagram of a dynamic acceleration and deceleration model provided by an embodiment of the present application.
  • FIG. 10 is a flowchart of a method for controlling a PTZ provided by another embodiment of the present application.
  • FIG. 11 is a schematic diagram of switching the gimbal to the unfolded posture according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • FIG. 13 is a flowchart of a method for controlling a pan-tilt head provided by another embodiment of the present application.
  • FIG. 14 is a schematic diagram of switching between the working posture, the storage posture and the unfolding posture of the gimbal provided by the embodiment of the application;
  • 15 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • 16 is a block diagram of an apparatus for controlling a PTZ provided by an embodiment of the present application.
  • 17 is a schematic diagram of a mobile platform with a power system provided by an embodiment of the present application.
  • FIG. 18 is a schematic diagram of a PTZ and a terminal device provided by an embodiment of the present application.
  • the bracket of the gimbal can be manually rotated to a specific position by manual adjustment. angle to enhance the safety of the gimbal and/or the operating equipment carried by the gimbal.
  • the related art can lock the rotating shaft structure at the specific angle through a mechanical lock. On the one hand, the accuracy and repeatability of manually adjusted joint angles are poor. On the one hand, the manual adjustment of the joint angle and the use of a mechanical lock to lock the bracket are not very convenient.
  • FIG. 1 is an application scenario of a method for controlling a PTZ, a PTZ, and a mobile platform provided by an embodiment of the present application.
  • the method of controlling the gimbal can be applied to a handheld gimbal, an airborne platform, and the like.
  • the work equipment is a camera device
  • the user shoots a video with the camera device carried on the pan/tilt head as an example.
  • the gimbal of the airborne camera is taken as an example.
  • the lens will face the object to be photographed (such as an actor, etc.), that is, the lens will face the outside. surroundings.
  • the user can first remove the shooting device, then manually adjust the posture of the gimbal to the storage posture, and lock the axis arms of each axis arm tightly.
  • the gimbal and camera set on the mobile platform also have similar problems.
  • the lens of the shooting device is prone to interfere with the body, bracket, external obstacles, etc.
  • the embodiments of the present disclosure can implement functions such as one-key storage, one-key expansion, and one-key expansion.
  • the user when a transitional shooting is required, the user can issue an instruction to the gimbal indicating entering the storage mode or the unfolding mode, so that the gimbal and/or the photographing device can be automatically adjusted to the storage posture or the unfolding posture, so as to enhance the cloud Safety and ease of operation of the stage and/or camera.
  • the user after completing a shooting process, the user can first remove the shooting device, and then use the one-key storage function to adjust the gimbal to the storage posture (the posture of the gimbal has changed in the enlarged view of Figure 1).
  • the gimbal When the user moves the gimbal to the next shooting position for the next shooting, the gimbal can be controlled to remain in the storage posture, which reduces the risk of damage caused by the interference between the gimbal and obstacles in the environment, and reduces energy consumption on the basis of to avoid shaking of the shaft arm.
  • the one-key deployment function can be used to adjust the gimbal to the unfolded posture, so that the next shooting process can be quickly carried out after the shooting device is installed. It should be noted that the embodiment in which the pan/tilt head carries the photographing device and is jointly switched to the designated storage posture is not excluded.
  • a mobile platform (such as an unmanned aerial vehicle) can also adjust the attitude of the gimbal set on the drone and/or the photographing device carried by the gimbal in response to commands from the remote control, etc., so as to elevate the gimbal and/or the camera. Or the safety of the camera and the ease of shooting.
  • FIG. 2 provides a method for controlling a PTZ and an application scenario of the PTZ provided by another embodiment of the present application.
  • a pan/tilt that can carry work equipment is used as an example for description. It should be noted that the working equipment may also be integrated with the pan/tilt, which is not limited here.
  • the pan/tilt head in FIG. 2 may include a bracket 200, a handle 201, and the like.
  • the bracket 200 may include a matching motor and a shaft arm, and the motor is used to drive the shaft arm to rotate, so as to drive the movement of the working equipment.
  • the stand 200 can be a variety of support structures, including but not limited to a single-axis or multi-axis attitude adjustable structure, for setting the work equipment on the handle 201 .
  • the work equipment may be a camera that allows the camera to be displaced relative to the handle 201, or rotated along one or more axes, such as the stand 200 that allows the camera to move along the pitch, pan, and roll axes A combined translational movement of one or more axes.
  • the stand 200 may allow the camera to rotate about one or more of a pitch axis, a pan axis, and a roll axis.
  • There may be a linkage conversion relationship between the bracket 200 and the handle 201 for example, the first movement (such as movement or rotation) generated by the handle 201 can be converted into a second movement generated by the bracket 200 . vice versa.
  • a sensor system may also be included on the gimbal.
  • the sensing system may include one or more sensors to sense spatial orientation, velocity, and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom).
  • the one or more sensors include, but are not limited to, GPS sensors, motion sensors, inertial sensors, joint angle sensors, or image sensors.
  • the sensing data provided by the sensing system can be used to control the pose, velocity, and/or acceleration of the work equipment.
  • a sensing system may be used to detect data about the environment of the gimbal, such as climatic conditions, the location of man-made structures, and the like.
  • the PTZ may also include a communication system.
  • the communication system can realize the communication between the PTZ and the control terminal with the communication system through wired or wireless signals sent and received.
  • the communication system may include any number of transmitters, receivers, and/or transceivers for wireless communication.
  • Communication can be one-way communication, so that data can be sent from one direction.
  • one-way communication may involve only the pan/tilt transmitting data to the control terminal, or vice versa.
  • One or more transmitters of the communication system may transmit data to one or more receivers of the communication system, and vice versa.
  • the communication can be two-way communication, so that data can be transmitted in both directions between the PTZ and the control terminal. Two-way communication includes that one or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa.
  • control terminal may be connected to the pan-tilt or the work equipment, the control terminal may provide control instructions to one or more of the pan-tilt and the work equipment, and receive control instructions from one or more of the pan-tilt and the work equipment Information (eg, position and/or motion information of the stand 200 or the work equipment, data sensed by the work equipment, such as image data captured by the camera) is received in the device.
  • control data of the control terminal may include instructions regarding position, motion, braking, or control of the pan/tilt and/or work equipment. For example, the control data may cause a change in the position and/or orientation of the stent 200.
  • the control data of the control terminal can control the operation equipment, such as controlling the operation of the camera or other image capturing equipment (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing viewing angle or field of view).
  • communications to the pan/tilt and/or work equipment may include information from one or more sensors.
  • Communication may include sensory information transmitted from one or more different types of sensors, such as GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Sensing information is about position (eg, orientation, position), motion, or acceleration to the gimbal and/or work equipment.
  • the sensory information transmitted from the work equipment includes data captured by the work equipment or the status of the work equipment.
  • the control data transmitted and provided by the control terminal can be used to control the state of one or more of the pan/tilt head, the stand 200 or the working equipment.
  • one or more of the stand 200 and the working equipment may include a communication module for communicating with the control terminal, so that the control terminal can communicate individually or control the pan/tilt and the working equipment.
  • the control terminal may be a remote controller of the PTZ, or may be an intelligent electronic device such as a mobile phone, an iPad, a wearable electronic device, etc., which can be used to control the PTZ.
  • control terminal can be far away from the gimbal to realize remote control of the gimbal, and can be fixed or detachable on the gimbal, which can be set as required.
  • the pan-tilt can communicate with other remote devices other than the control terminal, or with remote devices other than the control terminal.
  • the control terminal can also communicate with another remote device and PTZ.
  • the pan-tilt and/or control terminal may communicate with another mobile platform or a carrier or work equipment of another mobile platform.
  • the additional remote device may be a second terminal or other computing device (eg, a computer, desktop, tablet, smartphone, or other mobile device).
  • the remote device may transmit data to the pan/tilt, receive data from the pan/tilt, transmit data to the control terminal, and/or receive data from the control terminal.
  • the remote device may be connected to the Internet or other telecommunication network to allow data received from the pan-tilt and/or control terminal to be uploaded to a website or server.
  • FIG. 3 is a schematic structural diagram of a pan/tilt according to an embodiment of the present application.
  • the pan/tilt 300 may include: at least one rotating shaft structure 31 and at least two motors 32 .
  • the rotating shaft structure 31 may include at least two relatively movable shaft arms 311 and 312 , and the rotating shaft structure 31 is used to support the working equipment 40 .
  • At least two motors 32 are respectively used to drive corresponding shaft arms to move, so as to adjust the posture of the working equipment 40 .
  • a pitch axis motor and a pitch axis arm cooperate to drive work equipment 40 in rotation about the pitch axis.
  • a roll axis motor and roll axis arm cooperate to drive work equipment 40 in rotation about the roll axis.
  • a yaw axis motor and a yaw axis arm cooperate to drive work equipment 40 in rotation about the yaw axis.
  • the pitch axis motor can drive the movement of the pitch axis arm
  • the roll axis motor can drive the movement of the roll axis arm
  • the yaw axis motor can drive the movement of the yaw axis arm.
  • the yaw axis arm may be connected to one end of the roll axis arm, and the other end of the roll axis arm may be connected to the pitch axis arm, but the embodiment of the present application is not limited to this, the yaw axis arm, the roll axis arm and the pitch axis arm
  • the axle arms can also be connected in other sequences.
  • pan/tilt head 300 can also enable the working equipment to rotate around only one, two or four axes, etc., which is not limited herein.
  • the rotating shaft structure can be used to be fixed on a mobile platform with a power system.
  • the mobile platform is an unmanned aerial vehicle as an example to illustrate.
  • the mobile platform may include a power mechanism, a sensing system. Additionally, the mobile platform may also include a communication system.
  • the power mechanism may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, and nozzles.
  • the rotating body of the powertrain may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit.
  • the mobile platform may have one or more power mechanisms. All powertrains can be of the same type or of different types.
  • the power mechanism enables the mobile platform to take off vertically from a surface, or to land vertically on a surface, without any horizontal movement of the mobile platform (eg, without taxiing on a runway).
  • the mobile platform may have multiple horizontal rotations to control the lifting and/or pushing of the mobile platform.
  • the sensing system may include one or more sensors to sense surrounding obstacles, spatial orientation, velocity and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of the mobile platform.
  • sensors to sense surrounding obstacles, spatial orientation, velocity and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of the mobile platform.
  • acceleration eg, rotation and translation with respect to up to three degrees of freedom
  • the communication system please refer to the relevant part of the communication system of the PTZ, which will not be repeated here.
  • the pan/tilt according to the embodiment of the present invention may be applied to a mobile platform, that is, the mobile platform may include the pan/tilt according to any one of the above embodiments.
  • the mobile platform may further include a body on which the pan/tilt head is arranged.
  • the body of the mobile platform may be a holding component of the handheld pan/tilt.
  • the mobile platform may include, for example, a car, an aircraft, a robot, etc., and the pan/tilt on its body may be equipped with an imaging device and/or a shooting device and/or other functional modules.
  • the body as the body of the mobile platform, can be used as a cloud The handle assembly of the table.
  • any part of the mobile platform that can be held can be used as a holding component of the pan/tilt.
  • the input unit may also have other components or parts, for example, may have a switch of a handheld pan/tilt and the like.
  • a processor may be provided in the input unit for processing input control commands, or sending and receiving signals.
  • the processor can also be arranged in the handle assembly.
  • the processor may be a central processing unit (Central Processing Unit, referred to as CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application-specific integrated circuits (application specific integrated circuit, referred to as ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, referred to as FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the above method can also be applied to work equipment other than the imaging device and the like.
  • the operation equipment includes but is not limited to sound wave detection devices, surveying and mapping devices, spraying devices, infrared detection devices, radars, and the like.
  • FIG. 4 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present application.
  • the method includes operations S402 to S404.
  • At least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
  • the gimbal after the response to a first trigger event indicating that the gimbal enters the storage mode, and before controlling at least one of the rotating shaft structures to rotate to the target storage position, it is determined whether the gimbal is on the gimbal or not. It carries the operation equipment, and prompts the user when the operation equipment is carried on the PTZ.
  • the prompt information includes, but is not limited to, at least one of the following: not suitable for storage, the camera has not been removed, there is a risk of interference, and the like.
  • the way of judging whether the pan/tilt carries the working equipment can be judged by the output torque of the motor. In this way, misoperation during normal use and damage to the camera can be avoided.
  • the first trigger event includes a pressing operation on a mechanical button, a touch operation on a preset storage component on an interactive interface displayed on a display screen, and a motion state of the gimbal reaches a preset motion state at least one of them.
  • the first trigger event may be a physical key being pressed.
  • a physical button corresponding to the one-key storage function is set on the PTZ (it can be shared with the switch button, etc., or it can be a separate physical button).
  • the gimbal can enter the storage mode by pressing (short press or long press) the switch button when it is in the shutdown mode or the storage mode.
  • the first trigger event for entering the storage mode can also be triggered by pressing a button of the remote control.
  • the remote controller may be communicatively connected to the PTZ, or the remote controller may be communicatively connected to the mobile platform, and the mobile platform transmits the first trigger event to the PTZ, which is not specifically limited herein.
  • the first trigger event may be a trigger operation for a display component (eg, a button) of the interactive interface.
  • the PTZ includes a display
  • the interactive interface displayed by the display includes display components such as virtual keys, sliders, and instruction input boxes corresponding to the storage function.
  • the user generates the above-mentioned first trigger event by operating the display components.
  • the virtual button may also be provided on a remote controller that is communicatively connected to the PTZ or the mobile platform.
  • the first trigger event may be an event of passing the identity authentication, such as successful authentication based on a biometric feature. Including but not limited to: face recognition, fingerprint recognition or iris recognition for identity authentication.
  • the identity authentication process can also be implemented through a remote controller that is communicatively connected to the PTZ or the mobile platform.
  • the first trigger event may be an event that the pan/tilt head moves according to a preset trajectory. For example, when the movement track of the gimbal is shaking left and right, a trigger event for entering the storage mode is triggered.
  • the first trigger event may be an event in which the posture of the gimbal is passively changed to the first preset posture. For example, when the user manually rotates the rotating shaft structure to close the rotating shaft structure, a trigger event for entering the storage mode is triggered.
  • a mechanical button or a touch button on a parameter adjustment screen an application (APP) button is preset as a storage trigger button.
  • APP application
  • the target storage position may be preset, for example, it has been set before the gimbal is shipped from the factory.
  • the target storage position can also be set by the user.
  • the gimbal can have multiple different preset storage postures to meet specific needs in multiple scenarios. For example, taking the camera carried by the gimbal as an example, the camera is equipped with a high-magnification lens. Due to space constraints, the target storage position can be set to a position corresponding to a 180° rotation toward the user. For example, in order to reduce the time required for the photographing device to switch to the target storage position, the target storage position may be set to be rotated downward by 90°.
  • the target storage position may be set to the position facing the rotating shaft structure.
  • the target storage position can be set to be rotated downward by 45°.
  • At least one of the rotating shaft structures is controlled to remain in the target storage position until a second trigger event is detected that instructs the pan/tilt head to exit the storage mode.
  • At least one of the rotating shaft structures can be controlled to remain at the target storage position by means of closed-loop control. For example, when the deviation between the current position detected by the sensor and the target storage position is greater than a preset threshold, the attitude of at least one rotating shaft structure may be adjusted based on the deviation.
  • a posture maintaining duration threshold may also be preset, and if at least one of the rotating shaft structures is controlled to remain at the target storage position for a long time, excessive energy may be consumed. Therefore, when the detected holding time is greater than or equal to the attitude holding time threshold, the standby mode, the power-off mode, etc. can be automatically entered.
  • the posture maintaining duration threshold can be customized according to user needs.
  • the attitude maintaining duration threshold may be related to the remaining power of the gimbal. If the remaining power is more, the attitude maintaining duration threshold is dynamically increased, which is not specifically limited here.
  • the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
  • controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly.
  • At least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
  • FIG. 5 is a schematic diagram of an operation device mounted on a pan/tilt according to an embodiment of the present application.
  • the pan/tilt head may further include: a holding assembly 50 .
  • the handle assembly 50 can provide support for the shaft structure.
  • the handle assembly 50 can support the shaft structure 31 .
  • the holding assembly 50 can also function such as accommodating a battery, a processor, setting input/output components, etc., which are not limited herein.
  • the pan/tilt head may include a pitch axis motor 322, a roll axis motor 323, a yaw axis motor 321, a holding assembly 50, a yaw axis axis arm 311, and a work equipment fixing
  • the mechanism 60 internal inertial measurement elements may be included, the pitch axis arm 312, the roll axis arm 313, the photographing device 40, and the like.
  • the pan/tilt head may further include: a working equipment fixing mechanism 60 .
  • the working equipment fixing mechanism 60 is used for fixing the working equipment 40 , and the working equipment 40 is fixed on the working equipment fixing mechanism 60 in an adjustable posture.
  • the work equipment securing mechanism 60 is rotatable relative to one or more pivot arms.
  • the working equipment fixing mechanism 60 includes a swivel arm that can be rotated relative to the pitch axis and a fixing portion that can cooperate with the photographing device.
  • the fixed portion can move linearly relative to the rotating arm to facilitate the fixing of work equipment of different sizes or configurations.
  • the work equipment fixing mechanism 60 may be a separate component or a part of a certain axis arm.
  • the work equipment fixing mechanism 60 may be a component of the pitch axis arm or the yaw axis arm, which will not be described here. limited.
  • the gimbal can control the fixing mechanism 60 of the operating equipment to rotate 180 degrees toward the user, etc., so that the lens faces the user, reducing the risk of damage to the lens due to interference with the external environment.
  • the gimbal can control the fixing mechanism 60 of the operating equipment to rotate downward by 90°, etc., so that the lens faces the holding assembly 50, thereby reducing the risk of damage to the lens due to interference with the external environment.
  • the second trigger event may be a physical key being pressed.
  • a physical button corresponding to the one-key expansion function or the power-on function is provided on the PTZ (a button can be shared with the one-key storage function button, the switch button, etc., or it can be a separate physical button).
  • the button of the one-button deployment function is the same as the button of the one-button storage function.
  • the triggering manner of the second triggering event may refer to the triggering manner of the first triggering event.
  • the second triggering event may be a triggering operation for the display component of the interactive interface
  • the second triggering event may be an event of passing the identity authentication
  • the second triggering event may be an event that the PTZ moves according to a preset trajectory
  • the second triggering event It may be an event in which the posture of the gimbal is passively changed to the second preset posture.
  • the relevant part of the first trigger event which will not be described in detail here.
  • the controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling the motor of the gimbal to output a holding torque so that the rotating shaft structure remains at the target storage position.
  • the rotating shaft structure can be maintained at the target storage position by means of a mechanical lock.
  • the method of limiting the position through a mechanical lock is less convenient to use, and in a scene that requires frequent transitions, it cannot meet the user's demand for ease of operation. On the one hand, it can effectively improve the user's operation convenience, and on the other hand, it can improve the safety of the gimbal and the operation equipment carried by the gimbal.
  • the holding torque can enable the working equipment to keep the posture of the working equipment relative to the gripping assembly unchanged when the user shakes the gimbal, so as to reduce damage to the working equipment caused by interference and the like.
  • the holding torque can also enable the working equipment to change its posture relative to the handle assembly under the action of a large external force, that is, the posture of the working equipment relative to the handle assembly is not locked (for example, the user can change the rotating shaft when breaking the rotating shaft structure by hand).
  • a buffer function can be provided under the action of a large external force, and when the external force disappears or becomes smaller, the original posture (such as the target storage position) can be accurately restored.
  • the holding moment is determined based on the load load carried by the head.
  • the load load may include the load of the work equipment, the load of the accessories of the work equipment, and the like.
  • the holding torque determined based on the load load helps to optimize the above-mentioned cushioning function, such as providing a more suitable holding torque.
  • the holding torque is smaller than the stabilization torque
  • the stabilization torque is the process of stabilizing the operation equipment carried by the gimbal when the gimbal is in the stabilization state. Describe the torque output by the motor of the gimbal.
  • the holding torque can be 1 mmN/m, 3 mmN/m, 5 mmN/m, 6 mmN/m, 9 mmN/m, 10 mmN/m, 15 mmN/m, 20 mm N/m, 28 mN/m, 35 mN/m, 50 mN/m, 80 mN/m, 100 mN/m, 150 mN/m, 300 mN/m, 500 mN/m m, 1 N/m, 3 N/m, 5 N/m, 15 N/m, 25 N/m, 50 N/m, 80 N/m, 100 N/m, etc.
  • the value of the proportional (P) in the PID in the stabilization mode can be reduced to reduce the input voltage in the stabilization mode.
  • the current value of the motor thereby realizing that the holding torque is less than the stabilization torque.
  • each joint can also be locked and/or turned off through a mechanical lock, or you can choose to maintain such a state and unfold it with one click after the transition.
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • controlling at least one of the rotating shaft structures to rotate to the target storage position includes: controlling the at least one of the rotating shaft structures to rotate to the target storage joint angle.
  • the current joint angle may be acquired by an angle sensor, and the target storage joint angle is the joint angle when the rotating shaft structure is in the target storage position, which may be preset in the storage element of the gimbal.
  • the angle sensor includes a magnetic ring and a magnetic encoder.
  • the magnetic ring is set on the rotor of the rotating shaft motor.
  • the magnetic encoder is set in the electronic speed governor. The magnetic encoder can obtain the rotating position of the magnetic ring, thereby determining the position of the rotor to determine the current joint angle.
  • offset angle (offset) between the rotational position of the magnetic ring obtained by the magnetic encoder and the rotational position of the rotor, which can be The offset angle is detected experimentally and stored in the storage element of the pan/tilt head, so that the rotation position of the rotor can be determined through the rotation position of the magnetic ring and the offset angle to determine the current joint angle.
  • the pan/tilt head may further include: an inertial measurement unit (Inertial measurement unit, IMU for short).
  • the inertial measurement unit can be installed anywhere on the pan/tilt head, so as to determine the attitude information of the components supported by the installed inertial measurement unit.
  • the inertial measurement unit may be disposed on the working equipment fixing mechanism 60 for measuring the attitude information of the working equipment fixing mechanism 60 .
  • the inertial measurement unit may be arranged on the shaft arm.
  • the inertial measurement unit may be at least one of an accelerometer or a gyroscope, and may be used to measure the attitude and acceleration of the photographing device.
  • an inertial measurement unit may be provided on the working equipment 40 for measuring the pose of the working equipment information.
  • each inertial measurement unit may be disposed on a different component, so as to measure the pose information of the component.
  • controlling at least one of the rotating shaft structures to rotate to a target storage joint angle includes: controlling at least one of the rotating shaft structures to rotate based on a difference between the current joint angle and the target storage joint angle to the target stowage joint angle.
  • the joint angle deviation between the current joint angle and the target storage joint angle is calculated, and the working current and/or torque of the rotating shaft structure can be determined through the joint angle deviation.
  • the rotation of the rotating shaft structure can be controlled to rotate the rotating shaft structure to the target receiving joint angle. In this way, the structure of the rotating shaft can be adjusted to the target storage position simply, quickly and accurately through the closed-loop control of the joint angle.
  • controlling at least one of the rotating shaft structures to rotate to the target receiving joint angle based on the difference between the current joint angle and the target receiving joint angle may include the following operations.
  • the respective sub-target stowed joint angles of a plurality of control cycles are determined.
  • the number of control cycles may be determined based on the magnitude of the difference. For example, the larger the difference, the greater the number of control cycles required.
  • the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
  • the process parameters for each control period can be as shown in Table 1.
  • first joint angle second joint angle third joint angle initial value 10 10 10 first control cycle 9 11 11 second control period 8 12 12 third control period 6 14 14 ... ... ... ... Nth control cycle 0 20 20
  • each rotating shaft structure includes a corresponding forward rotation direction and a reverse rotation direction.
  • the joint angle of the roll axis structure is a first set joint angle
  • the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is the first joint angle
  • the joint angle of the pitch axis structure is the second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle
  • the joint angle of the yaw shaft structure is the third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle
  • the absolute difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle is 90 degrees, which may be a positive difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle.
  • 90 degrees that is, the direction of the target storage joint angle of the roll axis structure relative to the first set joint angle is the positive rotation direction, and the angle is 90 degrees.
  • the absolute difference between the target storage joint angle corresponding to the pitch shaft structure and the second set joint angle is 55 degrees, that is, the second set joint angle is the target storage joint angle corresponding to the pitch shaft structure.
  • the absolute difference between the target storage joint angle corresponding to the yaw axis structure and the third set joint angle is 0 degrees.
  • the roll axis structure, pitch axis structure and yaw axis structure are relatively convergent, so that the volume occupied by the gimbal can be minimized, the space required by the gimbal can be reduced, and the interference with the outside world during the movement of the camera can be reduced. risks of.
  • first set joint angle, the second set joint angle, and the third set joint angle may also be other set values, such as 20 degrees, 90 degrees, 125 degrees, and the like.
  • the absolute difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle, the absolute difference between the target storage joint angle corresponding to the pitch axis structure and the second set joint angle, and the target corresponding to the yaw axis structure can also be set as required.
  • the final target joint angle in the storage state may be: the pan axis is 0 degrees, the roll axis is 90 degrees, and the pitch axis is 55 degrees.
  • FIG. 6 is a schematic diagram of an interactive interface displayed on a display screen according to an embodiment of the present application.
  • multiple interactive components can be displayed on the interactive interface, such as shutdown, storage, joint angle setting, and the like.
  • some components may correspond to the next-level interactive interface.
  • the user clicks the joint angle setting button the user can jump to an interface for setting the joint angle, so that the user can set the first joint angle, the second joint angle, the third joint angle and so on by himself.
  • target joint angles for each of the pan axis, roll axis, and pitch axis can be set.
  • determining the respective sub-target stowed joint angles of multiple control cycles based on the difference between the current joint angle and the target stowed joint angle includes: based on the current joint angle and the target stowed joint angle The difference between the joint angles is determined by the dynamic acceleration and deceleration model to determine the respective sub-target receiving joint angles of multiple control cycles.
  • FIG. 7 is a logic diagram of the closed-loop control of the gimbal based on the joint angle provided by the embodiment of the present application.
  • the user can preset a preset joint angle, and determine the joint angle deviation by comparing the difference between the preset joint angle and the current joint angle collected by the angle sensor.
  • the processor is used to process the joint angle deviation to determine a control command, and the control command is used to control the shaft motor to output a corresponding torque to drive the pan/tilt to change its attitude.
  • the preset joint angle is mainly used as the target information of the closed-loop control.
  • the preset posture can also be used as the target information of the closed-loop control.
  • Equation (1) the conversion between joint angles and poses can be achieved using the formula of Equation (1).
  • qcam is the target posture of the operation equipment on the gimbal in the geodetic coordinate system
  • qbase is the posture of the gimbal's holding component or gimbal base in the geodetic coordinate
  • qbase ⁇ out is the holding component or gimbal base to the
  • the rotation quaternion of the gimbal outer frame is constructed from the target storage joint angle corresponding to the outer frame
  • qout ⁇ mid is the rotation quaternion from the gimbal outer frame to the gimbal middle frame
  • qmid ⁇ inn is the rotation quaternion from the middle frame of the gimbal to the inner frame of the gimbal, which is constructed from the target storage joint angle corresponding to the inner frame.
  • the target posture of the corresponding rotating shaft structure can be converted to the coordinate system of the gimbal body to obtain the preset posture of the rotating shaft structure relative to the holding assembly 50.
  • the current posture of the rotating shaft structure can be converted to in the coordinate system of the gimbal body.
  • FIG. 8 is a logic diagram of closed-loop control of a gimbal based on an attitude provided by an embodiment of the present application.
  • the attitude deviation between the current attitude and the preset attitude of the rotating shaft structure relative to the holding assembly 50 can be calculated in the gimbal body coordinate system. Based on the attitude closed-loop control method, the operation of the rotating shaft structure can be determined by the attitude deviation.
  • the current and/or torque, according to the working current and/or the torque, the rotation of the rotating shaft structure can be controlled to rotate the rotating shaft structure to a preset posture relative to the holding assembly 50 .
  • the current attitude may be obtained by integral operation using the angular velocity collected by the gyroscope.
  • the joint angles may be inversely calculated from the poses or the poses may be calculated from the joint angles.
  • the rotation axis Vz of the coordinate axis of the joint angle of the yaw axis is [0, 0, 1]
  • the rotation axis Vx of the coordinate axis of the joint angle of the roll axis is [1, 0, 0]
  • the coordinates of the joint angle of the pitch axis The axis of rotation Vy of the shaft is [0, 1, 0]. Convert Vx, Vy, Vz to the gimbal body coordinate system respectively as shown in formula (2) to formula (3):
  • Vz ⁇ b Ry'*Rx'*Rz'*Vz Equation (2)
  • Vx ⁇ b Ry'*Rx'*Vx Equation (3)
  • Vy ⁇ b Ry'*Vy Equation (4)
  • Ry', Rx', Rz' correspond to the transpose of Ry, Rx, Rz respectively
  • Ry, Rx, Rz are the joint angle coordinate system around the Y axis (pitch axis), X axis (roll axis), Z axis respectively (Yaw axis) Rotation matrix to the reference frame.
  • the attitude control can be realized according to the joint angle of the rotating shaft structure. For example, first obtain the current joint angle and target storage joint angle of the rotating shaft structure, determine the expected joint angular velocity of the rotating shaft structure according to the current joint angle and the target storage joint angle, and then convert the expected joint angular velocity of the rotating shaft structure to the value in Euler through the coordinate transformation relationship.
  • the expected Euler angular velocity in the coordinate system so that the corresponding preset attitude can be obtained according to the expected Euler angular velocity, and then the rotating shaft structure is controlled to rotate to the preset attitude relative to the holding component according to the expected Euler angular velocity.
  • the dynamic acceleration and deceleration model may include a velocity-timeline in a preset shape.
  • the shape of the speed-time line includes, but is not limited to, an oblique line, a curved line, a polyline, and the like relative to a certain coordinate axis.
  • the preset-shaped velocity-timeline includes at least two of a velocity-increasing sub-segment, a velocity-constant sub-segment, and a velocity-decreasing sub-segment.
  • the target joint angle for each control cycle is generated through a dynamic T-shaped acceleration/deceleration control plan.
  • T-shaped acceleration and deceleration help make shifting smoother and take less time to reach the target joint angle.
  • the joint angle closed-loop control is performed through the target joint angle of the current control cycle and the detected joint angle angle, until the detected current joint angle reaches the error range of the target joint angle in the storage state.
  • the error range may be a steady-state error, for example, the error range has upper and lower limits.
  • the rotating shaft structure when controlling the rotating shaft structure, can rotate at a preset speed, and the preset speed can be preset in the storage element of the pan/tilt head.
  • the preset speed can be a constant value.
  • the preset speed can also have a trend of increasing first and then decreasing. In this way, the target storage position can be approached at a relatively high speed to reduce the time required to rotate to the target storage position, and the speed can be reduced after approaching the target storage position. In order to prevent hitting the limit of the rotating shaft structure, and can avoid the situation of exceeding the target storage position and then returning.
  • the preset speed may also be determined according to the difference between the current position of the rotating shaft structure and the target storage position, wherein the difference between the current position and the target storage position may refer to the joint angle deviation or the attitude deviation.
  • the preset speed It can be determined in real time according to the actual operation needs. For example, when the difference between the current position and the target storage position is relatively large, the preset speed can be relatively large, and when the difference between the current position and the target storage position is relatively small, the preset speed can be compared. Xiao, etc., no specific limitation is made here.
  • FIG. 9 is a schematic diagram of a dynamic acceleration and deceleration model provided by an embodiment of the present application.
  • the starting moment of the dynamic acceleration and deceleration model can increase the speed in the form of uniform acceleration or variable acceleration, and in the middle stage, it can adopt the form of uniform speed, and of course, it can also adopt the form of variable speed.
  • the speed can be reduced by uniform deceleration or variable deceleration.
  • the rotating shaft structure may further include an electronic speed governor, which is used to adjust the rotational speed of the motor, so as to realize the adjustment of the rotating speed of the rotating shaft structure according to the dynamic acceleration and deceleration model.
  • an electronic speed governor which is used to adjust the rotational speed of the motor, so as to realize the adjustment of the rotating speed of the rotating shaft structure according to the dynamic acceleration and deceleration model.
  • the angle of the current joint angle in each cycle of at least part of the control cycle, can be initialized to the The sub-goal of the control period accommodates the joint angle.
  • the current joint angle is initialized as the current target joint angle (such as the target joint angle of the current control cycle) to effectively avoid the singular problem of the storage state.
  • the above method may further include the following operations.
  • At least one of the following operations is performed: in response to a shutdown instruction, controlling the PTZ to enter a shutdown mode, or, in response to a standby instruction, controlling the PTZ The station enters standby mode.
  • the present disclosure implements the provided method for controlling a pan/tilt, which controls the rotating shaft structure to rotate to a target storage position, where the target storage position can make the pan/tilt and/or the operating equipment carried by the pan/tilt in a relatively safe posture to improve property safety.
  • a pan/tilt which controls the rotating shaft structure to rotate to a target storage position
  • the target storage position can make the pan/tilt and/or the operating equipment carried by the pan/tilt in a relatively safe posture to improve property safety.
  • it can also effectively improve the accuracy of posture adjustment and improve the user experience.
  • FIG. 10 is a flowchart of a method for controlling a PTZ provided by another embodiment of the present application.
  • the method may include operation S1002.
  • At least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • the pan/tilt head includes at least one rotating shaft structure.
  • the gimbal is in a powered-on state before responding to the second trigger event.
  • the PTZ can be in a standby state, a storage state, a working state, and so on. This makes it easy for users to quickly switch the pan/tilt from the standby state, the storage state, etc. to the unfolded state, so as to quickly perform operations.
  • the structure of the PTZ can refer to FIG. 1 , FIG. 2 , FIG. 3 or FIG. 5 .
  • the second trigger event reference may be made to the second trigger event in the above embodiment, which will not be described in detail here.
  • FIG. 11 is a schematic diagram of switching the gimbal to a deployed posture according to an embodiment of the present application.
  • the pan/tilt head is in a retracted posture so as to move to a desired shooting position.
  • a second trigger event can be generated by clicking a button, so that the pan/tilt head can control the rotating shaft structure to be in the unfolded posture in response to the second trigger event, as shown in the right figure of FIG. 11 .
  • the working equipment is an example of a photographing device integrated with a pan/tilt head for description.
  • the storage position of the gimbal helps to improve the safety and reliability of the precise components of the camera.
  • the photographing device may be placed in a stowed posture.
  • a second trigger event can be generated by clicking a button or the like, so that the gimbal can control the rotating shaft structure to be in an unfolded posture in response to the second trigger event. This is convenient for the user to quickly perform the shooting operation.
  • the target deployment position includes: a preset deployment position, a deployment position before the gimbal enters the storage mode, a selected deployment position, or a designated deployment position temporarily input by the user.
  • FIG. 12 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • the user can input various operation instructions, such as shutdown, deployment, and attitude setting, based on the interactive interface displayed on the display screen.
  • the user can preset the joint angle corresponding to the deployment attitude, such as yaw angle setting, pitch angle setting or roll angle setting, etc.
  • the user can also temporarily set the unfolding posture, which is not limited here.
  • the method further includes: locking the control right for at least one of the rotating shaft structures to prohibit responding to the at least one rotating shaft structure.
  • the control instruction of the rotating shaft structure is generated based on user operation.
  • control commands input by the user include, but are not limited to: control commands generated by using the joystick, buttons, etc. of the holding component, commands generated by the display components such as the virtual joystick and virtual keys displayed on the application (APP) interactive interface, and the response For the centering instruction generated by the double-click event for the specified object, etc.
  • the method further includes: unlocking the control right of at least one of the rotating shaft structures.
  • the gimbal may respond to the control command generated by using the joystick, buttons, etc. of the holding component, and respond to using the virtual joystick displayed on the application (APP) interactive interface.
  • APP application
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • the angle sensor may be as shown above, eg including a magnetic ring and a magnetic encoder.
  • the IMU can be used to determine the joint angle, for example, the angle information is obtained by integrating the angular acceleration output by the IMU, etc., which is not limited here.
  • controlling at least one of the rotating shaft structures to rotate to the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to the target expanded joint angle.
  • controlling the rotation of at least one of the rotating shaft structures to a target deployed joint angle may include the following operations: controlling at least one of the joint angles based on a difference between the current joint angle and the target deployed joint angle The hinge structure rotates to the target deployment joint angle.
  • the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle may include the following operations: first, based on the The difference between the current joint angle and the target deployed joint angle determines the respective sub-target deployed joint angles of a plurality of control cycles. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployed joint angle corresponding to the control period.
  • the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of multiple control cycles specifically includes: based on the current joint angle and the target deployed joint angle.
  • the difference between the target deployment joint angles is determined, and the sub-target deployment joint angles of each of the multiple control cycles are determined through the dynamic acceleration and deceleration model.
  • FIG. 9 For the dynamic acceleration and deceleration model, reference may be made to the relevant description of FIG. 9 , which is not limited here.
  • the dynamic acceleration and deceleration model includes a speed-timeline in a preset shape.
  • the preset-shaped speed-timeline includes at least two of a speed-increasing sub-line segment, a speed-constant sub-line segment, and a speed-decreasing sub-line segment.
  • the above method further includes: in the process of joint angle closed-loop control, in each cycle of at least part of the control cycle, initializing the angle of the current joint angle to the sub-target deployed joint angle of the control cycle.
  • the number of control cycles may be fixed, and the number of control cycles may be determined based on the difference between the current joint angle and the target deployed joint angle, which is not limited herein.
  • At least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
  • the joint angle of the roll axis structure is a first set joint angle
  • the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is the fourth joint angle, such as 0 degrees.
  • the joint angle of the pitch axis structure is a second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is a fifth Joint angle, e.g. 0 degrees.
  • the joint angle of the yaw shaft structure is a third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is The sixth joint angle, eg 0 degrees.
  • the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
  • the holding assembly 50 can be referred to as shown in FIG. 5 .
  • the holding assembly 50 may be provided with a display screen, buttons, a processor, a circuit board, a battery, a supporting foot, and the like.
  • controlling at least one of the rotating shaft structures to remain at the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode.
  • controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode helps to improve the convenience of user operation.
  • controlling the rotation of at least one of the rotating shaft structures to the posture before entering the storage mode with respect to the handle assembly it is helpful for the user to maintain the continuity of the shooting angle of view after the transition.
  • the second trigger event includes a pressing operation on the unfolding mechanical button, a touch operation on a preset unfolding component on the interactive interface displayed on the display screen, and the motion state of the pan/tilt reaches a preset motion at least one of the states.
  • the method further includes the following operation: in response to a shutdown instruction, controlling the pan/tilt to enter a shutdown mode.
  • a mechanical button, a touch button on the parameter adjustment screen, and an APP button can be set as the deployment trigger button (this operation can be preset by the manufacturer, and the user does not need to define it each time it is used), and the PTZ is in storage.
  • the gimbal enters the expanded state in response to the trigger event and resumes normal work. It should be noted that if the gimbal has just been turned on or the mechanical shaft lock has been unlocked, it will automatically unfold when it is turned on, and it can be unfolded without one key.
  • the gimbal switches to the joint angle closed-loop control, and initializes the current joint angle angle as the current target joint angle to avoid the gimbal lock problem of the storage state.
  • the gimbal calculates the target based on the current target joint angle and the final target joint angle in the unfolded state (according to the target pose—usually Euler angles (such as 0°, 0°, 0°), the current base pose and the inverse kinematics solution.
  • the difference value of the joint angle is used to generate the target joint angle of each control cycle through the dynamic T-type acceleration and deceleration control plan.
  • the operation process of entering the unfolded posture may be at least part of the inverse operation of the relevant operation process of entering the storage posture.
  • the joint angle is closed loop through the target joint angle of the current control cycle and the detected joint angle, until the detected joint angle reaches the target joint angle error range of the deployed state.
  • the gimbal in response to a trigger event for entering the deployment mode, controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can switch quickly To the desired deployment posture, in order to quickly use the operation equipment carried by the gimbal for operation, and also effectively improve the accuracy of posture adjustment and improve user experience.
  • the gimbal includes at least one rotating shaft structure.
  • FIG. 13 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present application.
  • the method for controlling a pan/tilt head may include operations S1302 to S1306.
  • the current posture-related information of at least one of the rotating shaft structures may be determined and stored, such as the angle of each joint. Values or attitude information for certain axes (one or more of pitch, yaw, and roll), etc. This is convenient for returning to the original posture when entering the expanded mode later.
  • At least one of the rotating shaft structures is controlled to remain in the target storage position.
  • operation S1306 in response to a second trigger event indicating that the pan/tilt head enters the deployment mode, at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • a second trigger event indicating that the pan/tilt head enters the deployment mode
  • at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • FIG. 14 is a schematic diagram of switching between the working posture, the storage posture and the unfolding posture of the gimbal according to an embodiment of the present application.
  • the user can take off the shooting device, and then control the gimbal from the working posture, such as the posture when using the shooting device for shooting, the preset unfolding posture, etc., to enter the storage posture, the The storage posture helps to improve the safety, reliability and portability of the gimbal.
  • the gimbal can provide a certain holding torque to the rotating shaft structure to keep the gimbal in the storage posture.
  • the pan/tilt head can be controlled to enter the unfolding mode, so that at least one of the rotating shaft structures is in the unfolding posture (the unfolding posture can be the same as the completion of the last shooting process).
  • the last posture may also be a designated posture preset by the user), so that the user can install the photographing device and perform the next photographing process.
  • a photographing device integrated with a pan/tilt head is used as an example for description.
  • the gimbal can enter the storage position from the working position, such as the position when using the shooting device for shooting, the preset unfolding position, etc., which helps to improve the stability of the gimbal and/or shooting device. Safety and reliability. In this way, it is convenient for the user to move during the completion of the shooting process, during which a certain holding torque can be provided to the rotating shaft structure to keep the shooting device in a specific posture.
  • the pan/tilt head can be controlled to enter the unfolding mode, so that at least one of the rotating shaft structures is in the unfolding posture (the unfolding posture can be the same as the completion of the last shooting process).
  • the posture after the camera can also be a designated posture preset by the user), so as to perform the next shooting process.
  • the controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling the motor of the gimbal to output a holding torque so that the rotating shaft structure remains at the target storage position. Based on the holding torque, the rotating shaft structure is kept at the target storage position, which effectively improves the operational convenience and control accuracy of the gimbal compared to the solution of maintaining the posture through a mechanical lock.
  • the holding torque is determined based on a work equipment load carried by the pan/tilt head.
  • the holding torque is smaller than the stabilization torque
  • the stabilization torque is the process of stabilizing the operation equipment carried by the gimbal when the gimbal is in the stabilization state. Describe the torque output by the motor of the gimbal. Wherein, when the motor output holding torque is controlled by the PID method, the value of the proportion (P) corresponding to the holding torque may be smaller than the value of the proportion (P) corresponding to the stabilization torque.
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • the angle sensor for the angle sensor, reference may be made to the above related content, which will not be described in detail here.
  • controlling at least one of the rotating shaft structures to rotate to the target storage position includes: controlling at least one of the rotating shaft structures to rotate to the target storage joint angle.
  • the joint angle and the posture information can be converted to each other, so as to control the rotating shaft structure and/or the posture of the photographing device based on the posture information or the joint angle.
  • controlling at least one of the rotating shaft structures to rotate to the target storage joint angle includes: controlling at least one of the rotating shafts based on a difference between the current joint angle and the target storage joint angle The structure rotates to the target stowed joint angle.
  • the controlling at least one of the rotating shaft structures to rotate to the target storage joint angle based on the difference between the current joint angle and the target storage joint angle may include the following operations: first, based on the current joint angle The difference between the target stowed joint angle and the target stowed joint angle determines the respective sub-target stowed joint angles of the plurality of control periods. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
  • the determining, based on the difference between the current joint angle and the target stowed joint angle, the respective sub-target stowed joint angles of a plurality of control periods may include: based on the current joint angle and the all stowed joint angles The difference between the target storage joint angles is determined, and the respective sub-target storage joint angles of the multiple control periods are determined through the dynamic acceleration and deceleration model.
  • the dynamic acceleration and deceleration model includes a speed-timeline in a preset shape.
  • the speed-timeline of the preset shape includes at least two of a speed increasing sub-line segment, a speed constant sub-line segment and a speed decreasing sub-line segment.
  • the above method may further include the following operation: in the process of joint angle closed-loop control, in each cycle in at least part of the control cycle, initializing the angle of the current joint angle to the sub-target storage joint of the control cycle horn.
  • At least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
  • the joint angle of the roll axis structure is the first set joint angle
  • the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is first joint angle.
  • the joint angle of the pitch axis structure is the second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle.
  • the joint angle of the yaw shaft structure is the third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle.
  • the joint angle of the roll axis structure is a first set joint angle
  • the preset joint angle corresponding to the roll axis structure and the first set joint angle are The difference is the fourth joint angle.
  • the joint angle of the pitch axis structure is the second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the fifth joint angle.
  • the joint angle of the yaw shaft structure is the third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the sixth joint angle.
  • the target deployment position includes: a preset deployment position, a deployment position before the pan/tilt head enters a storage mode, or a selected deployment position.
  • FIG. 15 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • the user can input a variety of operation instructions based on the interactive interface displayed on the display screen, such as storage, deployment, and attitude settings.
  • the current interactive interface or other interactive interfaces can further display shutdown, power-on, etc. Display components.
  • the user can preset the joint angles corresponding to the stowed attitude and/or the unfolded attitude, such as yaw angle setting, pitch angle setting or roll angle setting, etc.
  • the user can also temporarily set the unfolding posture, which is not limited here.
  • the method may further include: locking the control right for at least one of the rotating shaft structures to prohibit responding to at least one of the rotating shaft structures A control instruction of the rotating shaft structure, the control instruction is generated based on a user operation.
  • the method further includes: releasing control rights on at least one of the rotating shaft structures.
  • the control right may be to allow control of the rotating shaft structure through remote control joysticks, buttons, and the like.
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • controlling at least one of the rotating shaft structures to rotate to the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to the target expanded joint angle.
  • controlling at least one of the rotating shaft structures to rotate to a target deployed joint angle includes: controlling at least one of the rotating shaft structures to rotate based on a difference between the current joint angle and the target deployed joint angle Expand the joint angle to the target.
  • the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle may include the following operations: first, based on the The difference between the current joint angle and the target deployed joint angle determines the respective sub-target deployed joint angles of a plurality of control cycles. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployed joint angle corresponding to the control period.
  • the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of multiple control periods may include: based on the current joint angle and the target deployed joint angle. The difference between the target deployment joint angles is determined, and the sub-target deployment joint angles of each of the multiple control cycles are determined through the dynamic acceleration and deceleration model.
  • the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
  • controlling at least one of the rotating shaft structures to remain in the target storage position may include: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly.
  • controlling at least one of the rotating shaft structures to remain in the target deployed position may include: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode.
  • the first trigger event includes a pressing operation on a mechanical button for storage, a touch operation on a preset storage component on the interactive interface displayed on the display screen, and the movement state of the pan/tilt reaches at least one of the first preset movement states.
  • the second trigger event includes a pressing operation on the unfolding mechanical button, a touch operation on a preset unfolding component on the interactive interface displayed on the display screen, and the motion state of the pan/tilt reaches at least one of the second preset motion states.
  • the method may further include at least one of the following operations. For example, in response to a shutdown instruction, the PTZ is controlled to enter a shutdown mode. For example, in response to a standby instruction, the PTZ is controlled to enter a standby mode.
  • the execution subject of each of the above operations will be exemplarily described.
  • the execution subject of each of the above operations may be a handheld pan/tilt, and the corresponding functions may be implemented by an input unit of the handheld pan/tilt, a holding part, a processor and a motor provided in the holding part, and the like.
  • the operation of acquiring the first trigger event and the second trigger event may be determined based on a user operation input by the user on the control terminal of the mobile platform or on the mobile platform.
  • Controlling at least one of the rotating shaft structures to rotate to the target storage position may be performed by a pan/tilt (eg, a processor).
  • a pan/tilt eg, a processor
  • the operation of controlling at least one of the rotating shaft structures to remain in the target storage position may be performed by a pan/tilt head.
  • the holding torque can be determined by the head.
  • the values of the preset joint angle, the target storage position, the target deployment position, and the first to sixth joint angles may be determined based on user operations input by the user on the control terminal of the mobile platform or on the mobile platform.
  • a human-computer interaction module (such as a display for displaying a human-computer interaction interface, etc.) can be set on the land robot, and the user can directly obtain the user on the interactive interface displayed by the mobile platform.
  • operations to generate user instructions, determine images of target objects, etc. the independent completion includes actively or passively, directly or indirectly acquiring corresponding data from other devices to perform corresponding operations.
  • Another aspect of the present disclosure provides an apparatus for controlling a pan/tilt.
  • FIG. 16 is a block diagram of an apparatus for controlling a PTZ according to an embodiment of the present application.
  • the apparatus 1600 for controlling a PTZ may include one or more processors 160 and a readable storage 1620 .
  • a computer-readable storage medium is used to store one or more computer programs 1621.
  • the above-mentioned method is executed, so as to realize, for example, "one-key storage", “one-key storage” key expansion” and “one key expansion” and other functions.
  • the device 1600 for controlling the gimbal may be set in a handheld gimbal or an airborne gimbal or the like.
  • One or more processors 1610 may be integrated in one processing unit, or may be separately provided in multiple processing units.
  • a trigger event at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until an indication of the cloud is detected
  • a second trigger event for the station to exit the stowage mode In a trigger event, at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until an indication of the cloud is detected A second trigger event for the station to exit the
  • the apparatus 1600 for controlling the pan/tilt can be set in one execution body or respectively set in multiple execution bodies.
  • the apparatus 1600 for controlling the pan/tilt may be provided in the pan/tilt.
  • part of it is set in the PTZ, and part is set in a control terminal that can be connected to the PTZ, such as a display screen for displaying an interactive interface.
  • the processing unit may comprise a Field-Programmable Gate Array (FPGA) or one or more ARM processors.
  • the processing unit may be connected to non-volatile computer readable storage medium 1620 .
  • the non-volatile computer-readable storage medium 1620 may store logic, code and/or computer instructions executed by the processing unit for performing one or more steps.
  • the non-volatile computer-readable storage medium 1620 may include one or more storage units (removable media or external memory such as SD card or RAM).
  • the data sensed by the sensors may be transferred and stored directly into a storage unit of the non-volatile computer-readable storage medium 1620 .
  • the storage units of the non-volatile computer-readable storage medium 1620 may store logic, code, and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein.
  • a processing unit may be configured to execute instructions to cause one or more processors of the processing unit to perform the tracing functions described above.
  • the storage unit may store sensing module sensing data, the data sensing being processed by the processing unit.
  • the storage unit of the non-volatile computer-readable storage medium 1620 may store processing results generated by the processing unit.
  • the processing unit may be connected to the control module for controlling the state of the mobile platform.
  • the control module may be used to control the power mechanism of the mobile platform to adjust the spatial orientation, velocity and/or acceleration of the mobile platform relative to six degrees of freedom.
  • the control module may control one or more of the carrier, work equipment or sensing module.
  • the processing unit may also be connected to the communication module for transmitting and/or receiving data with one or more peripheral devices (eg, terminals, display devices, or other remote control devices).
  • peripheral devices eg, terminals, display devices, or other remote control devices.
  • Any suitable communication method may be utilized here, such as wired communication or wireless communication.
  • the communication module may utilize one or more local area networks, wide area networks, infrared, radio, Wi-Fi, peer-to-peer (P2P) networks, telecommunication networks, cloud networks, and the like.
  • P2P peer-to-peer
  • a relay station such as a signal tower, a satellite, or a mobile base station, can be used.
  • the above-mentioned various components may be compatible with each other.
  • one or more components are located on a mobile platform, carrier, work equipment, terminal, sensing system, or additional external device in communication with each of the foregoing.
  • one or more of the processing unit and/or non-transitory computer-readable medium may be located in different locations, such as on a mobile platform, carrier, work equipment, terminal, sensing system, or Additional external devices that communicate with the foregoing devices and various combinations of the foregoing.
  • control terminal adapted to the mobile platform may include an input module, a processing unit, a memory, a display module, and a communication module, all of which are connected by a bus or similar network.
  • the input module includes one or more input mechanisms to obtain input generated by the user by manipulating the input module.
  • Input mechanisms include one or more joysticks, switches, knobs, slide switches, buttons, dials, touchscreens, keypads, keyboards, mice, voice controls, gesture controls, inertial modules, and the like.
  • the input module may be used to obtain user input for controlling any aspect of the mobile platform, carrier, work equipment, or components thereof. Any aspect includes attitude, position, orientation, flight, tracking, etc.
  • the input mechanism may be that the user manually sets one or more positions, each position corresponding to a preset input, to control the mobile platform.
  • the input mechanism may be operated by a user to input control commands to control movement of the mobile platform.
  • a user can use a knob, switch, or similar input mechanism to input a motion mode of the mobile platform, such as auto-flying, auto-pilot, or moving according to a preset motion path.
  • the user can control the position, attitude, orientation, or other aspects of the mobile platform by tilting the control terminal in a certain way. The tilt of the control terminal can be detected by one or more inertial sensors, and corresponding motion commands can be generated.
  • the user may utilize the input mechanisms described above to adjust operating parameters of the work equipment (eg, zoom), the attitude of the work equipment (via the carrier), or other aspects of moving any object on the platform.
  • the input mechanism may be operated by the user to input the aforementioned descriptive object information.
  • the user may utilize a knob, switch or similar input mechanism to select an appropriate device mode, such as an unfolded mode or a stowed mode.
  • the user may also utilize an input mechanism to select other modes, such as a tracking mode, and based on the input mechanism determine a specific target to track, target type information to perform, or other similar information.
  • the input module may be executed by more than one device.
  • the input module can be implemented by a standard remote controller with a joystick.
  • a standard remote controller with a joystick connects to a mobile device (eg, a smartphone) running a suitable application ("app") to generate control commands for the mobile platform.
  • the app can be used to get input from the user.
  • the processing unit may be connected to the memory.
  • Memory includes volatile or non-volatile storage media for storing data, and/or logic, code, and/or program instructions executable by a processing unit for performing one or more rules or functions.
  • the memory may include one or more storage units (removable media or external memory such as SD card or RAM).
  • the data input to the module may be transferred directly and stored in a storage unit of the memory.
  • the storage units of the memory may store logic, code and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein.
  • the processing unit may be configured to execute instructions to cause one or more processors of the processing unit to process and display sensory data (eg, images) acquired from the mobile platform, control instructions generated based on user input, including motion instructions and objects information, and cause the communication module to transmit and/or receive data, etc.
  • the storage unit may store sensed data or other data received from an external device such as a mobile platform.
  • the storage unit of the memory may store the processing result generated by the processing unit.
  • the display module may be used to display information on the position, translation velocity, translation acceleration, orientation, angular velocity, angular acceleration, or a combination thereof, etc., for the pan/tilt head and/or work equipment as described above.
  • the display module can be used to obtain information sent by the mobile platform and/or work equipment, such as sensory data (images recorded by cameras or other image capture devices), described attitude information, control feedback data, and the like.
  • the display module may be executed by the same device as the input module. In other embodiments, the display module and the input module may be executed by different devices.
  • the communication module may be used to transmit and/or receive data from one or more remote devices (eg, mobile platforms, carriers, base stations, etc.).
  • the communication module can transmit control signals (such as motion signals, target information, and tracking control commands) to peripheral systems or devices, such as the above-mentioned PTZ and/or operation equipment.
  • the communication module may include a transmitter and a receiver for receiving data from and transmitting data to the remote device, respectively.
  • the communication module may include a transceiver that combines the functions of a transmitter and a receiver.
  • the transmitter and receiver and the processing unit may communicate with each other. Communication may utilize any suitable means of communication, such as wired or wireless communication.
  • the images captured by the mobile platform during the motion can be transmitted from the mobile platform or the imaging device back to the control terminal or other suitable device for display, playback, storage, editing or other purposes. Such transmission may occur in real-time or near real-time as the imaging device captures the imagery. Optionally, there may be a delay between the capture and transmission of the imagery.
  • the imagery may be stored in the mobile platform's memory without being transferred anywhere else. The user can view these images in real time and, if necessary, adjust object information or other aspects of the mobile platform or its components. Adjusted object information may be provided to the mobile platform, and the iterative process may continue until the desired image is obtained.
  • the imagery may be transmitted to a remote server from the mobile platform, imagery device, and/or control terminal. For example, images can be shared on some social networking platforms, such as WeChat Moments or Weibo.
  • the apparatus 1600 for controlling a PTZ can be used to perform one or more operations as described above. I will not list them one by one here.
  • pan/tilt head may include:
  • At least one hinge structure At least one hinge structure, one or more processors, and a computer-readable storage medium.
  • the computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
  • At least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
  • At least one of the rotating shaft structures is controlled to remain at the target storage position until a second trigger event is detected that instructs the pan/tilt head to exit the storage mode.
  • pan/tilt head may include:
  • At least one hinge structure At least one hinge structure, one or more processors, and a computer-readable storage medium.
  • the computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
  • At least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • the PTZ is in a powered-on state before responding to the second trigger event.
  • pan/tilt head may include:
  • At least one hinge structure At least one hinge structure, one or more processors, and a computer-readable storage medium.
  • the computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
  • At least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
  • At least one of the rotating shaft structures is controlled to remain in the target storage position.
  • At least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • pan/tilt may be a handheld pan/tilt or an airborne pan/tilt.
  • FIG. 17 is a schematic diagram of a movable platform with a power system according to an embodiment of the present application.
  • the mobile platform may be an unmanned aerial vehicle 170, and the unmanned aerial vehicle 170 may include a plurality of power systems 171 and a tripod.
  • the gimbal can be set on the drone 170.
  • the power systems 171 of the UAV 170 correspond to the arms one-to-one.
  • Each power system 171 may include a motor assembly and a blade coupled to the motor assembly.
  • Each power system 171 may be disposed on its corresponding machine arm, and the power system 171 is supported by the corresponding machine arm.
  • the drone 170 may also include a tripod.
  • the tripod can be located under the gimbal and connected with the gimbal. When the drone 170 lands, it can be used for the drone 170 to land.
  • FIG. 18 schematically shows a schematic diagram of a mobile platform according to another embodiment of the present application.
  • the mobile platform is a hand-held pan-tilt 180
  • the hand-held pan-tilt 180 may include the structure of the pan-tilt as described above.
  • the hand-held pan/tilt 180 may include: a pan/tilt and a handle supporting the pan/tilt.
  • the handle is a part that the user holds and may include control buttons to facilitate the operation of the pan/tilt.
  • the handheld pan/tilt 180 is connected in communication with a functional component (such as a camera) in the stand, so as to obtain image information captured by the camera.
  • the handheld PTZ 180 can also be connected with a terminal device 181 (such as a mobile phone), etc., so as to send information such as images to the mobile phone.
  • a terminal device 181 such as a mobile phone
  • Embodiments of the present application also provide a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer or processor is run on a computer or a processor, the computer or the processor is made to execute any one of the above methods. or multiple steps.
  • Each component module of the above signal processing device can be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product.
  • a computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted over a computer-readable storage medium.
  • the computer instructions can be sent from one website site, computer, server, or data center to another website site by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) , computer, server or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media.
  • the usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.
  • the embodiments of the present application also provide a computer program product, which includes a computer program, the computer program includes program codes for executing the methods provided by the embodiments of the present application, when the computer program product runs on an electronic device, the The program code is used to enable the electronic device to implement the image model training method or the image processing method provided by the embodiments of the present application.
  • the computer program may rely on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like.
  • the computer program may also be transmitted, distributed in the form of a signal over a network medium, and downloaded and installed through the communication portion, and/or installed from a removable medium.
  • the program code embodied by the computer program may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
  • the program code for executing the computer program provided by the embodiments of the present application may be written in any combination of one or more programming languages.
  • Programming languages include, but are not limited to, languages such as Java, C++, python, "C" or similar programming languages.
  • the program code may execute entirely on the user computing device, partly on the user device, partly on a remote computing device, or entirely on the remote computing device or server.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
  • LAN local area network
  • WAN wide area network
  • an external computing device eg, using an Internet service provider business via an Internet connection

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  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
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Abstract

L'invention concerne un procédé de commande de cardan, dans lequel un cardan comprend au moins une structure d'arbre rotatif. Le procédé comprend : en réponse à un premier événement de déclenchement prescrivant à un cardan d'entrer dans un mode de pliage, la commande d'au moins une structure d'arbre rotatif afin qu'elle pivote vers une position de pliage cible, de telle sorte que la/les structure(s) d'arbre rotatif se trouve/se trouvent dans un état de pliage ; et la commande de la/des structure(s) d'arbre rotatif pour rester dans la position de pliage cible jusqu'à ce qu'un second événement de déclenchement prescrivant au cardan de sortir du mode de pliage soit détecté. La présente divulgation concerne en outre un cardan et une plate-forme mobile.
PCT/CN2021/084461 2021-03-31 2021-03-31 Procédé de commande de cardan, cardan et plate-forme mobile WO2022205091A1 (fr)

Priority Applications (2)

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CN202180094299.XA CN116897325A (zh) 2021-03-31 2021-03-31 云台控制方法、云台和移动平台
PCT/CN2021/084461 WO2022205091A1 (fr) 2021-03-31 2021-03-31 Procédé de commande de cardan, cardan et plate-forme mobile

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Citations (5)

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Publication number Priority date Publication date Assignee Title
WO2013165045A1 (fr) * 2012-05-04 2013-11-07 (주)비즈텍 Dispositif de panoramique et de basculement pour appareil d'imagerie
CN110637183A (zh) * 2018-06-29 2019-12-31 深圳市大疆创新科技有限公司 竖向增稳装置的控制方法、装置及计算机可读存储介质
CN110832423A (zh) * 2018-11-28 2020-02-21 深圳市大疆创新科技有限公司 云台的控制方法、云台、移动平台和计算机可读存储介质
CN110892188A (zh) * 2018-11-30 2020-03-17 深圳市大疆创新科技有限公司 手持云台的控制方法及手持云台
CN111684196A (zh) * 2019-05-27 2020-09-18 深圳市大疆创新科技有限公司 手持云台

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013165045A1 (fr) * 2012-05-04 2013-11-07 (주)비즈텍 Dispositif de panoramique et de basculement pour appareil d'imagerie
CN110637183A (zh) * 2018-06-29 2019-12-31 深圳市大疆创新科技有限公司 竖向增稳装置的控制方法、装置及计算机可读存储介质
CN110832423A (zh) * 2018-11-28 2020-02-21 深圳市大疆创新科技有限公司 云台的控制方法、云台、移动平台和计算机可读存储介质
CN110892188A (zh) * 2018-11-30 2020-03-17 深圳市大疆创新科技有限公司 手持云台的控制方法及手持云台
CN111684196A (zh) * 2019-05-27 2020-09-18 深圳市大疆创新科技有限公司 手持云台

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